Automatic rotating type mechanical arm

Abstract

According to the technical scheme, the automatic rotating type mechanical arm is characterized by comprising a supporting frame, and the supporting frame is provided with a grabbing mechanism, a feeding mechanism, a discharging mechanism and a control mechanism; the transmission mechanism is used for driving the grabbing mechanism to horizontally move on the supporting frame; the transmission mechanism is connected with the grabbing mechanism; the guide mechanism is used for limiting the moving range of the grabbing mechanism on the supporting frame; the guide mechanism is connected with the grabbing mechanism; the driving mechanism is used for driving the transmission mechanism; the driving mechanism is connected with the transmission mechanism; the device has the advantages of being flexible in working, convenient to adjust and small in working space.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to an automatic rotating robotic arm. Background Art

[0002] In traditional manual production, workers are often required to perform small-scale assembly work on small-scale workbenches. For example, in the seasoning trial preparation process in the traditional liquid industry, the measuring cups need to be placed in different positions such as weighing, discharging, stirring and discharging. However, most of the existing manipulators are fixed structures and cannot significantly change the volume of the equipment when it moves, resulting in a larger space required for walking and inflexible work, so there is room for improvement. Summary of the invention

[0003] In view of the shortcomings of the prior art, the embodiment of the present application provides an automatic rotating mechanical arm to solve the problems existing in the related technology. The technical solution is as follows:

[0004] An embodiment of the present application provides an automatic rotating robotic arm, including a support frame, on which are arranged: a grasping mechanism for grasping materials on a production line workbench; a transmission mechanism for driving the grasping mechanism to move horizontally on the support frame; the transmission mechanism is connected to the grasping mechanism; a guide mechanism for limiting the range of movement of the grasping mechanism on the support frame; the guide mechanism is connected to the grasping mechanism; a driving mechanism for driving the transmission mechanism; and the driving mechanism is connected to the transmission mechanism.

[0005] In one embodiment, the gripping mechanism includes: a base plate, a lifting cylinder, a steering assembly and a grasping assembly; the base plate is respectively connected to the transmission mechanism and the guide mechanism; the lifting cylinder is arranged at the upper end of the base plate, and the movable end of the lifting cylinder is connected to the steering assembly; the grasping assembly is arranged at the upper end of the steering assembly.

[0006] In one embodiment, the steering assembly includes: a lifting platform and a rotating cylinder; one side of the lifting platform is connected to the movable end of the lifting cylinder, and the other side of the lifting platform is connected to the rotating cylinder; the grasping assembly is arranged on the movable end of the rotating cylinder.

[0007] In one embodiment, the grasping assembly includes: a rotating arm, a grasping cylinder and a clamp; the rotating arm is arranged on the movable end of the rotating cylinder; the grasping cylinder is arranged at the end of the rotating arm; and the clamp is arranged on the movable end of the grasping cylinder.

[0008] In one embodiment, a plurality of oblong holes are provided at the end of the rotating arm; the oblong holes are adapted to be detachably connected to the movable ends of the rotating cylinders.

[0009] In one embodiment, the transmission mechanism includes: a driving wheel, a driven wheel and a synchronous belt; the driving wheel is rotatably arranged on one side of the support frame, and the driving wheel is connected to the driving mechanism; the driven wheel is rotatably arranged on the other side of the support frame; the synchronous belt is wound around the driven wheel and the driving wheel, and the synchronous belt is connected to the base plate.

[0010] In one embodiment, at least one synchronous belt pressing plate is provided on the synchronous belt; the synchronous belt pressing plate is connected to the base plate.

[0011] In one embodiment, the guide mechanism includes: a walking guide rail, and a walking slider corresponding to the walking guide rail; the walking guide rail is horizontally arranged on the support frame; the walking slider is movably arranged on the walking guide rail, and the walking slider is connected to the base plate.

[0012] In one embodiment, the driving mechanism includes: a driving motor and a bearing seat; the bearing seat is arranged on the support frame; the driving motor is installed on the bearing seat, and the driving motor is connected to the driving wheel.

[0013] In one embodiment, the support frame is an aluminum profile; a through groove is opened in the aluminum profile.

[0014] The advantages or beneficial effects of the above technical solution include at least:

[0015] The automatic rotating robotic arm of the present application is small in size and can be quickly installed at different positions of the production line through a support frame. The grabbing mechanism is arranged on the support frame. Under the driving action of the transmission mechanism and the guiding action of the guide mechanism, the grabbing mechanism can move horizontally on the support frame and grab the materials on the workbench of the production line, and place the materials at the designated position during the movement, making the work more flexible.

[0016] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 yes Figure 1 A partial enlarged schematic diagram of

[0020] Figure 3 It is a side view of the guide mechanism in the utility model (with the transmission mechanism hidden);

[0021] Figure 4 It is a front schematic diagram of the grabbing mechanism in the utility model.

[0022] In the figure: 1. support frame; 2. grabbing mechanism; 21. base plate; 22. lifting cylinder; 23. steering assembly; 24. grabbing assembly; 3. transmission mechanism; 31. driving wheel; 32. driven wheel; 33. synchronous belt; 34. synchronous belt pressing plate; 4. guide mechanism; 41. walking track; 42. walking slider; 5. driving mechanism; 51. driving motor; 52. bearing seat; 61. lifting platform; 62. rotating cylinder; 71. rotating arm; 72. grabbing cylinder; 73. clamping claw; 8. oblong hole; 9. through groove. DETAILED DESCRIPTION

[0023] In the following, only some exemplary embodiments are briefly described to make the purpose, features and advantages of the utility model more obvious and understandable. As those skilled in the art will appreciate, the described embodiments can be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0024] The utility model is described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] like Figures 1 to 4 As shown, the utility model provides an automatic rotating robotic arm, including a support frame 1, on which are arranged: a grasping mechanism 2 for grasping materials on a production line workbench; a transmission mechanism 3 for driving the grasping mechanism 2 to move horizontally on the support frame 1; the transmission mechanism 3 is connected to the grasping mechanism 2; a guide mechanism 4 for limiting the range of movement of the grasping mechanism 2 on the support frame 1; the guide mechanism 4 is connected to the grasping mechanism 2; a driving mechanism 5 for driving the transmission mechanism 3; the driving mechanism 5 is connected to the transmission mechanism 3.

[0026] In this embodiment, the grabbing mechanism 2 is arranged on the support frame 1, and the driving mechanism 5 is connected to the transmission mechanism 3 to drive the transmission mechanism 3 to move. Under the driving action of the transmission mechanism 3 and the limiting guiding action of the guide mechanism 4, the grabbing mechanism 2 can move horizontally back and forth on the support frame 1 and grab the materials on the production line workbench. The grabbing mechanism 2 can place the materials at the designated position during the movement, and the operation is flexible.

[0027] In addition, the support frame 1 of the present application is relatively small in size, and all parts of the equipment are arranged on the support frame 1. The space required for the grasping mechanism 2 to move is small. The robotic arm can be quickly installed at different positions of the production line through the support frame 1, and loading and unloading is flexible and convenient.

[0028] Furthermore, the gripping mechanism 2 includes: a base plate 21, a lifting cylinder 22, a steering assembly 23 and a grasping assembly 24; the base plate 21 is respectively connected to the transmission mechanism 3 and the guide mechanism 4; the lifting cylinder 22 is arranged at the upper end of the base plate 21, and the movable end of the lifting cylinder 22 is connected to the steering assembly 23; the grasping assembly 24 is arranged at the upper end of the steering assembly 23.

[0029] In this embodiment, the base plate 21 is connected to the transmission mechanism 3 and the guide mechanism 4 respectively. When the transmission mechanism 3 is working, it can drive the base plate 21 to move horizontally back and forth along the guide mechanism 4; the extended part of the rear end of the base plate 21 is provided with a threaded hole for connecting the crawler drag chain, and placing the air supply pipe of the cylinder and the magnetic open solenoid valve to ensure the neatness of the air pipe and the signal line;

[0030] The lifting cylinder 22 is arranged at the upper end of the base plate 21, the steering assembly 23 is arranged on the movable end of the lifting cylinder 22, and the grabbing assembly 24 is arranged on the movable end of the steering assembly. The base plate 21 can drive the lifting cylinder 22 to move back and forth horizontally, the lifting cylinder 22 can drive the steering assembly 23 to move back and forth longitudinally, and the steering assembly 23 can drive the grabbing assembly 24 to rotate and reciprocate. The grabbing assembly 24 can grab the material on the workbench of the production line and place the material to the designated position during the movement, completing the two-axis walking and single-axis rotation actions of the equipment, realizing the movement of the material from the initial workstation to the next workstation, and the working process is automated.

[0031] Furthermore, the steering assembly 23 includes: a lifting platform 61 and a rotating cylinder 62; one side of the lifting platform 61 is connected to the movable end of the lifting cylinder 22, and the other side of the lifting platform 61 is connected to the rotating cylinder 62; the grasping assembly 24 is arranged on the movable end of the rotating cylinder 62.

[0032] In this embodiment, the front of the lifting platform 61 is installed on the movable end of the lifting cylinder 22, the rotating cylinder 62 is arranged at the rear of the lifting platform 61, the grabbing assembly 24 is arranged on the movable end of the rotating cylinder 62, and the distance between the lifting cylinder 22 and the rotating cylinder 62 is the length of the lifting platform 61, so that the equipment can ensure a larger rotation radius in a narrow space.

[0033] Furthermore, the grasping assembly 24 includes: a rotating arm 71, a grasping cylinder 72 and a clamp 73; the rotating arm 71 is arranged on the movable end of the rotating cylinder 62; the grasping cylinder 72 is arranged at the end of the rotating arm 71; and the clamp 73 is arranged on the movable end of the grasping cylinder 72.

[0034] In this embodiment, one side of the rotating arm 71 is arranged on the movable end of the rotating cylinder 62, and the other side is connected to the grasping cylinder 72. Clamps 73 are arranged on both sides of the movable end of the grasping cylinder 72. The grasping cylinder 72 can control the opening or closing of the clamps 73 on both sides, so that the clamps 73 can grasp or release the materials on the production line workbench to achieve the material grasping effect.

[0035] Furthermore, a plurality of oblong holes 8 are provided at the end of the rotating arm 71 ; the oblong holes 8 are adapted to and detachably connected to the movable ends of the rotating cylinder 62 .

[0036] In this embodiment, a circle of oblong holes 8 is provided at the end of the rotating arm 71, and the movable end of the rotating cylinder 62 is detachably connected to the rotating arm 71 through the above-mentioned oblong holes 8. By adjusting the connection position between the two, the rotation angle or working rotation radius of the rotating arm 71 can be appropriately adjusted.

[0037] Furthermore, the transmission mechanism 3 includes: a driving wheel 31, a driven wheel 32 and a synchronous belt 33; the driving wheel 31 is rotatably arranged on one side of the support frame 1, and the driving wheel 31 is connected to the driving mechanism 5; the driven wheel 32 is rotatably arranged on the other side of the support frame 1; the synchronous belt 33 is wound around the driven wheel 32 and the driving wheel 31, and the synchronous belt 33 is connected to the base plate 21.

[0038] In this embodiment, the driving wheel 31 and the driven wheel 32 are rotatably arranged on opposite sides of the support frame 1, respectively. The driving wheel 31 is connected to the driving mechanism 5, and the synchronous belt 33 is wound around the outer sides of the driving wheel 31 and the driven wheel 32 and connected to the base plate 21. When the driving mechanism 5 is working, the output end of the driving mechanism 5 drives the driving wheel 31 to rotate, and the transmission mechanism 3 forms a synchronous belt and pulley system, so that when the synchronous belt 33 moves, it can drive the base plate 21 to move horizontally along the guide mechanism 4.

[0039] Furthermore, at least one synchronous belt pressing plate 34 is provided on the synchronous belt 33 ; the synchronous belt pressing plate 34 is connected to the base plate 21 .

[0040] In this embodiment, synchronous belt pressing plates 34 are provided on both sides of the base plate 21 , and the base plate 21 is connected to the synchronous belt 33 via the synchronous belt pressing plates 34 , thereby making the fixed connection relationship between the base plate 21 and the synchronous belt 33 more stable.

[0041] Furthermore, the guide mechanism 4 includes: a walking guide rail 41, and a walking slider 42 corresponding to the walking guide rail 41; the walking guide rail 41 is horizontally arranged on the support frame 1; the walking slider 42 is movably arranged on the walking guide rail 41, and the walking slider 42 is connected to the base plate 21.

[0042] In this embodiment, the bottom surface of the walking guide rail 41 is provided with reverse countersunk holes at intervals, and bolts are inserted from the top surface of the walking guide rail 41 and connected and fixed with special nuts inside the support frame 1, so that the walking guide rail 41 can be fixed to the outside of the support frame 1; the walking slider 42 is slidably arranged on the walking guide rail 41, and the walking slider 42 is connected to the walking guide rail 41 through internal balls, which can reduce friction; the side of the walking slider 42 is provided with an oil filling port, which is convenient for later oiling and maintenance, and prolongs the service life of the components;

[0043] The base plate 21 is connected to the walking slider 42. When the base plate 21 moves under the action of the synchronous belt, it drives the walking slider 42 to slide horizontally on the walking guide rail 41, so that the movement trajectory of the base plate 21 is restricted to the horizontal direction, achieving the guiding and limiting effect of the guide mechanism 4, and preventing the base plate 21 from deflecting.

[0044] Furthermore, the driving mechanism 5 includes: a driving motor 51 and a bearing seat 52 ; the bearing seat 52 is disposed on the support frame 1 ; the driving motor 51 is mounted on the bearing seat 52 , and the driving motor 51 is connected to the driving wheel 31 .

[0045] In this embodiment, the bearing seat 52 is installed on the support frame 1 and is located on one side of the driving wheel 31. The driving motor 51 is installed on the bearing seat 52. The output end of the driving motor 51 is connected to the driving wheel 31. When the driving motor 51 is working, it can drive the driving wheel 31 to rotate. When the driving wheel 31 rotates, it can drive the transmission mechanism 3 system as a whole to work synchronously, thereby achieving a driving transmission effect on the base plate 21.

[0046] Furthermore, the support frame 1 is an aluminum profile; a through slot 9 is provided in the aluminum profile.

[0047] In this embodiment, the support frame 1 is made of aluminum profile, which is small in size and light in weight. A through groove is opened on the side of the aluminum profile, and the synchronous belt 33 passes through two synchronous wheels and then enters the above-mentioned through groove. The structure is simpler, more beautiful, and easy to maintain.

[0048] The utility model provides an automatic rotating mechanical arm. The functions of the modules in the devices in the embodiments can refer to the corresponding descriptions in the above method. The utility model has the advantages of flexible operation and convenient adjustment and small working space.

[0049] In the description of this specification, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0050] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions are for illustrative purposes only, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An automatic rotating mechanical arm, comprising a support frame, characterized in that: The support frame is provided with: Grabbing mechanism, used to grab materials on the workbench of the production line; A transmission mechanism, used for driving the grabbing mechanism to move horizontally on the support frame; the transmission mechanism is connected to the grabbing mechanism; A guide mechanism, used to limit the range of movement of the grabbing mechanism on the support frame; the guide mechanism is connected to the grabbing mechanism; A driving mechanism, used for driving the transmission mechanism; The driving mechanism is connected to the transmission mechanism; The grabbing mechanism comprises: a base plate, a lifting cylinder, a steering assembly and a grabbing assembly; The base plate is respectively connected to the transmission mechanism and the guide mechanism; the lifting cylinder is arranged at the upper end of the base plate, and the movable end of the lifting cylinder is connected to the steering assembly; the grabbing assembly is arranged at the upper end of the steering assembly; The extended part at the rear end of the base plate is provided with a threaded hole for connecting the crawler drag chain and placing the air supply pipe of the cylinder and the magnetic opening solenoid valve.

2. The automatic rotating mechanical arm according to claim 1, characterized in that: The steering assembly includes: a lifting platform and a rotating cylinder; one side of the lifting platform is connected to the movable end of the lifting cylinder, and the other side of the lifting platform is connected to the rotating cylinder; the grasping assembly is arranged on the movable end of the rotating cylinder.

3. The automatic rotating mechanical arm according to claim 2, characterized in that: The grasping assembly comprises: a rotating arm, a grasping cylinder and a clamping claw; the rotating arm is arranged on the movable end of the rotating cylinder; the grasping cylinder is arranged at the end of the rotating arm; and the clamping claw is arranged on the movable end of the grasping cylinder.

4. The automatic rotating mechanical arm according to claim 3, characterized in that: A plurality of oblong holes are arranged at the end of the rotating arm; the oblong holes are correspondingly adapted to the movable end of the rotating cylinder and are detachably connected.

5. The automatic rotating mechanical arm according to any one of claims 1 to 4, characterized in that: The transmission mechanism comprises: a driving wheel, a driven wheel and a synchronous belt; The driving wheel is rotatably arranged on one side of the support frame, and the driving wheel is connected to the driving mechanism; the driven wheel is rotatably arranged on the other side of the support frame; the synchronous belt is wound around the driven wheel and the driving wheel, and the synchronous belt is connected to the base plate.

6. The automatic rotating mechanical arm according to claim 5, characterized in that: At least one synchronous belt pressing plate is arranged on the synchronous belt; the synchronous belt pressing plate is connected to the base plate.

7. The automatic rotating mechanical arm according to any one of claims 1 to 4, characterized in that: The guiding mechanism comprises: a walking guide rail and a walking slider corresponding to the walking guide rail; the walking guide rail is horizontally arranged on the supporting frame; the walking slider is movably arranged on the walking guide rail, and the walking slider is connected to the base plate.

8. The automatic rotating mechanical arm according to claim 5, characterized in that: The driving mechanism comprises: a driving motor and a bearing seat; the bearing seat is arranged on the supporting frame; the driving motor is installed on the bearing seat, and the driving motor is connected to the driving wheel.

9. The automatic rotating mechanical arm according to any one of claims 1 to 4, characterized in that: The support frame is an aluminum profile; a through slot is provided in the aluminum profile.

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